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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">MotionModelDiffDrive::AngularVelocityParams Class Reference</div>  </div>
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<p>Class representing yawrate profile for trajectories.  
 <a href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="motion__model__diff__drive_8h_source.html">motion_model_diff_drive.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a56110c7499e6b0015431b62a6dbf65ad"><td class="memItemLeft" align="right" valign="top"><a id="a56110c7499e6b0015431b62a6dbf65ad"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#a56110c7499e6b0015431b62a6dbf65ad">AngularVelocityParams</a> (void)</td></tr>
<tr class="memdesc:a56110c7499e6b0015431b62a6dbf65ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a56110c7499e6b0015431b62a6dbf65ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30f8bba7876cf023db09500327c98475"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#a30f8bba7876cf023db09500327c98475">AngularVelocityParams</a> (double, double, double, double)</td></tr>
<tr class="memdesc:a30f8bba7876cf023db09500327c98475"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#a30f8bba7876cf023db09500327c98475">More...</a><br /></td></tr>
<tr class="separator:a30f8bba7876cf023db09500327c98475"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a67712320a21e08bd3d731fb6422cdd66"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#a67712320a21e08bd3d731fb6422cdd66">calculate_spline</a> (double ratio=0.5)</td></tr>
<tr class="memdesc:a67712320a21e08bd3d731fb6422cdd66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate 3D spline parameters from k0, km, kf, sf. <a class="el" href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#adf86344ae0d85f694d668441562a2fe2" title="(a, b, c, d) &lt;- ax^3+bx^2+cx+d">coefficients</a> will be to the parameters.  <a href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#a67712320a21e08bd3d731fb6422cdd66">More...</a><br /></td></tr>
<tr class="separator:a67712320a21e08bd3d731fb6422cdd66"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:aff22ef682464804cf533e217b3c5ffe8"><td class="memItemLeft" align="right" valign="top"><a id="aff22ef682464804cf533e217b3c5ffe8"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>k0</b></td></tr>
<tr class="separator:aff22ef682464804cf533e217b3c5ffe8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8f6a03262afbf190b2e7a0cf40a2548"><td class="memItemLeft" align="right" valign="top"><a id="ab8f6a03262afbf190b2e7a0cf40a2548"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>km</b></td></tr>
<tr class="separator:ab8f6a03262afbf190b2e7a0cf40a2548"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6cea95487e06133958cd7f7035c6797f"><td class="memItemLeft" align="right" valign="top"><a id="a6cea95487e06133958cd7f7035c6797f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>kf</b></td></tr>
<tr class="separator:a6cea95487e06133958cd7f7035c6797f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa127dba03b426b8aa06d24ead0890a72"><td class="memItemLeft" align="right" valign="top"><a id="aa127dba03b426b8aa06d24ead0890a72"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>sf</b></td></tr>
<tr class="separator:aa127dba03b426b8aa06d24ead0890a72"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf86344ae0d85f694d668441562a2fe2"><td class="memItemLeft" align="right" valign="top"><a id="adf86344ae0d85f694d668441562a2fe2"></a>
std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#adf86344ae0d85f694d668441562a2fe2">coefficients</a></td></tr>
<tr class="memdesc:adf86344ae0d85f694d668441562a2fe2"><td class="mdescLeft">&#160;</td><td class="mdescRight">(a, b, c, d) &lt;- ax^3+bx^2+cx+d <br /></td></tr>
<tr class="separator:adf86344ae0d85f694d668441562a2fe2"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class representing yawrate profile for trajectories. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a30f8bba7876cf023db09500327c98475"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a30f8bba7876cf023db09500327c98475">&#9670;&nbsp;</a></span>AngularVelocityParams()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">MotionModelDiffDrive::AngularVelocityParams::AngularVelocityParams </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_k0</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_km</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_kf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_sf</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">_k0</td><td>Initial angular velocity [rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">_km</td><td>Intermediate angular velocity [rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">_kf</td><td>Terminal angular velocity [rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">_sf</td><td>Length of trajectory [m] </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a67712320a21e08bd3d731fb6422cdd66"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a67712320a21e08bd3d731fb6422cdd66">&#9670;&nbsp;</a></span>calculate_spline()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void MotionModelDiffDrive::AngularVelocityParams::calculate_spline </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>ratio</em> = <code>0.5</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Calculate 3D spline parameters from k0, km, kf, sf. <a class="el" href="class_motion_model_diff_drive_1_1_angular_velocity_params.html#adf86344ae0d85f694d668441562a2fe2" title="(a, b, c, d) &lt;- ax^3+bx^2+cx+d">coefficients</a> will be to the parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ratio</td><td>Ratio of sf (default: 0.5) </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/trajectory_generator/<a class="el" href="motion__model__diff__drive_8h_source.html">motion_model_diff_drive.h</a></li>
<li>src/motion_model_diff_drive.cpp</li>
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